[go: up one dir, main page]

WO2021090551A1 - Rotational positioning device - Google Patents

Rotational positioning device Download PDF

Info

Publication number
WO2021090551A1
WO2021090551A1 PCT/JP2020/031647 JP2020031647W WO2021090551A1 WO 2021090551 A1 WO2021090551 A1 WO 2021090551A1 JP 2020031647 W JP2020031647 W JP 2020031647W WO 2021090551 A1 WO2021090551 A1 WO 2021090551A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating member
rotary
scale
positioning device
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/031647
Other languages
French (fr)
Japanese (ja)
Inventor
直幸 高橋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sankyo Manufacturing Co Ltd
Original Assignee
Sankyo Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sankyo Manufacturing Co Ltd filed Critical Sankyo Manufacturing Co Ltd
Priority to EP20883796.3A priority Critical patent/EP4056313B1/en
Priority to US17/773,472 priority patent/US12304020B2/en
Priority to KR1020227015270A priority patent/KR102836005B1/en
Priority to CN202080071474.9A priority patent/CN114555290A/en
Priority to JP2021554824A priority patent/JP7592612B2/en
Publication of WO2021090551A1 publication Critical patent/WO2021090551A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/52—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism a single rotating pair
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/001—Calibrating encoders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/002—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders
    • B23Q17/003—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders by measuring a position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/26—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with a single row of rollers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/30—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for axial load mainly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/541—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/02—Parts of sliding-contact bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24428—Error prevention
    • G01D5/24433—Error prevention by mechanical means
    • G01D5/24442—Error prevention by mechanical means by mounting means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
    • B23Q16/02—Indexing equipment
    • B23Q16/022—Indexing equipment in which only the indexing movement is of importance
    • B23Q16/025—Indexing equipment in which only the indexing movement is of importance by converting a continuous movement into a rotary indexing movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2220/00—Machine tool components
    • B23Q2220/004—Rotary tables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/39—General buildup of machine tools, e.g. spindles, slides, actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel

Definitions

  • the present invention relates to a rotary positioning device capable of positioning a rotary angle at a target angle position with high accuracy.
  • the rotary positioning device generally has an input shaft into which a driving force of a motor or the like is input and an output shaft on which a rotary table for loading a machining work of a machine tool or the like is mounted.
  • the angle detector such as the attached encoder detects the amount of angle change due to the rotation of the rotary table, and by controlling the driver and motor based on the detected angle change amount, the rotary table is rotated to the target angle position. Position to.
  • Patent Document 1 discloses a roller turret cam index device that is rotatably provided around two rotation axes that cross over each other and includes a roller gear and a roller gear cam that are meshed with each other.
  • the encoder which is a rotation angle detector
  • the input shaft of the encoder is connected to the roller gear shaft of the roller gear by coupling so as not to rotate relative to the roller gear shaft. Is detected by the encoder.
  • the value detected by the encoder represents the rotation stop position of the roller gear, that is, the indexing position.
  • Patent Document 2 includes a circular table on which a work is mounted, a rotating shaft that supports the circular table, a frame that rotatably supports the rotating shaft, and a motor housed between the frame and the rotating shaft.
  • a rotary table device is disclosed. When the motor is driven, the circular table rotates about the axis of the rotation axis together with the rotation axis with respect to the frame, and the angular position thereof is determined.
  • the rotating shaft is composed of two shaft members, and both shaft members are combined in a state where their axes are aligned and connected by a screw member.
  • An annular space exists between the frame and the rotation shaft, and a motor, a thrust bearing, a radial bearing, and a rotation detector are provided in the space.
  • the rotation detector includes an encoder for detecting the amount of rotation of the rotating shaft and a detector detected by the encoder, and a detector separately provided on one shaft member of the rotating shaft is provided on the frame. Detected by the encoder, the amount of rotation of the rotating shaft is detected based on the detection signal from the encoder.
  • the rotating shaft is composed of two shaft members, and both shaft members are combined in a state where their axes are aligned, but the two shaft members are used as in Cited Document 1.
  • Center misalignment occurs during assembly when assembling, and center misalignment also occurs during assembly when a detector is separately provided on one of the rotating shaft members, which is affected by assembly errors due to these center misalignments.
  • an error occurs in the amount of change in the angle of the rotating shaft detected by the rotation detector, and further, an error occurs in the target angle position of the rotating shaft.
  • the raceway surface of the bearing is separately provided on the rotating shaft, and an error occurs in the amount of change in the angle of the rotating shaft detected by the rotation detector due to the assembly error at the time of assembling when the raceway surface is separately provided, and further. There is a problem that an error occurs in the target angle position of the rotation axis.
  • an object of the present invention is to provide a rotational positioning device capable of solving the above-mentioned problems and positioning the rotational angle at a target angle position with high accuracy.
  • the rotary positioning device is a rotary member that is rotatable about a housing and a rotary member axis, and at least a part of the rotary member is housed in the housing.
  • at least one sensor installed in the housing, a scale scale having a plurality of scales is formed integrally with the rotating member along the circumferential direction of the rotating member, and at least one sensor has a plurality of scales. The amount of change in angle due to rotation of the rotating member is detected based on the above, and the rotating member is positioned at the target angle position based on the amount of change in angle.
  • the scale scale is formed integrally with the rotary member in the radial direction with respect to the rotary member axis or in the direction parallel to the rotary member axis.
  • the housing is provided with at least one seat, and each of the at least one sensor has a position of each sensor and a gap between each sensor and the scale. Is installed on its corresponding seat to demarcate.
  • At least one seat is provided on the housing via the sensor flange.
  • the sensor flange is provided with a rotary member hole for passing at least a part of the rotary member, and the central axis of the rotary member hole is aligned with the rotary member axis. ing.
  • At least one seat is two or more seats provided along the circumferential direction of the rotating member, and the two or more seats are provided. However, the distances from the axis of the rotating member are equal, and the distances between adjacent seats are equal.
  • At least one sensor is two or more sensors, and each of the two or more sensors is It is installed in any of two or more seats.
  • the rotary positioning device further includes a bearing for supporting the rotation of the rotary member with respect to the housing, and the raceway surface of the bearing is formed integrally with the rotary member.
  • the scale scale is integrally formed with the portion of the rotary member housed in the housing.
  • the rotary member is an output shaft
  • a rotary table is provided at the end of the output shaft
  • the scale scale is a portion of the output shaft adjacent to the rotary table. It is formed as one.
  • the rotary member is an input shaft
  • the rotary positioning device is an output shaft that can rotate about an output axis line in the circumferential direction of the output shaft.
  • An output shaft is further provided along which a transmission mechanism is installed, and the output shaft can rotate with the rotation of the input shaft when the input shaft comes into contact with the transmission mechanism.
  • the rotary positioning device can detect the amount of change in the angle of the rotating member with high accuracy, and can further position the rotating member at the target angle position with high accuracy.
  • FIG. 5 is a cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in the radial direction with respect to a rotary member axis according to an embodiment of the present invention.
  • FIG. 5 is a cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention.
  • FIG. 5 is a partial cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention. It is a perspective view of the rotary positioning apparatus of the embodiment of FIG.
  • FIG. It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG. It is a perspective view of the sensor in the rotary positioning apparatus of the embodiment of FIG. It is a perspective view seen from the upper side and the lower side of the sensor flange in the rotary positioning device of the embodiment of FIG. It is a bottom view of the sensor flange in the rotary positioning apparatus of the embodiment of FIG. It is a perspective view of the rotary positioning apparatus of the embodiment of FIG. It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG. It is a perspective view of the sensor in the rotary positioning apparatus of the embodiment of FIG. It is a perspective view seen from the upper side and the lower side of the sensor flange in the rotary positioning device of the embodiment of FIG.
  • FIG. 5 is a partial perspective view of the inside of a rotary positioning device in which a scale scale is integrally formed in the radial direction with respect to a rotary member axis as another embodiment of the present invention.
  • FIG. 5 is a partial perspective view of the inside of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention.
  • It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG.
  • It is a partial cross-sectional view of the rotary positioning apparatus of the embodiment of FIG. It is a figure which shows the positioning accuracy with respect to the command position by this invention.
  • the rotation positioning device 100 includes a housing 101, a rotation member 102 that can rotate about the rotation member axis 103, and at least one sensor 104 as an angle detector installed in the housing 101.
  • the rotating member 102 is entirely housed in the housing 101, but at least a part of the rotating member 102 may be housed in the housing 101.
  • a scale scale 105 having a plurality of scales is integrally formed with the rotating member 102 along the circumferential direction of the rotating member 102.
  • the scale of the scale scale 105 may be formed integrally with the rotating member 102 in the radial direction with respect to the rotating member axis 103 as shown in FIG. 1 along the circumferential direction of the rotating member 102, or FIG. As shown in the above, the rotating member 102 may be integrally formed in a direction parallel to the rotating member axis 103.
  • the scale may be formed integrally with the rotating member 102 in a gear shape, or may be a linearly engraved rotating member 102. Further, the scale is not limited to one that can be visually recognized, and any scale may be used as long as it can be read by the sensor 104 with a predetermined position interval on the scale scale 105 as an interval for one scale.
  • the scale scale 105 may be integrally formed with the rotating member 102 along the circumferential direction of any portion of the rotating member 102.
  • the scale scale 105 may be formed on the lower portion of the rotating member 102 as shown in FIGS. 1 and 2, or may be formed on the upper portion of the rotating member 102 as shown in FIG. May be good.
  • the scale scale 105 may be formed on a portion of the rotating member 102 inside the housing 101 as shown in FIGS. 1 and 2, and as shown in FIG. 3, the scale scale 105 may be formed on the rotating member 102 outside the housing 101. It may be formed in a portion.
  • the rotary table 113 is provided at the end of the rotary member 102 as the output shaft, as shown in FIGS. 1 to 3.
  • the rotary table 113 rotates accordingly.
  • the scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft housed in the housing 101.
  • the scale scale 105 may be formed on the lower portion of the rotating member 102, or may be formed on the upper portion of the rotating member 102.
  • the rotating member 102 may be provided with a transmission mechanism 114, and the driving force from the input shaft is transmitted via the transmission mechanism 114 to rotate the rotating member 102 as an output shaft.
  • the member 102 may be rotated.
  • the rotating member 102 may not be provided with the transmission mechanism 114, and the rotating member 102 may be rotated by directly connecting a driving device such as a motor to the rotating member 102.
  • the scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft adjacent to the rotary table 113.
  • the scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft between the housing 101 and the rotary table 113.
  • the principle of the sensor 104 is not particularly limited as long as it can read the scale of the scale scale 105.
  • Examples of the sensor 104 include an optical sensor, a magnetic sensor, a coil, and the like.
  • an optical sensor is installed as the sensor 104, in order to change the light reflection state and the light transmission state, a linearly carved rotating member 102 is formed integrally with the rotating member 102 as a scale.
  • a gear-shaped rotating member 102 may be integrally formed with the rotating member 102 as a scale.
  • the sensor 104 reads a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 along the circumferential direction of the rotating member 102, so that the angle due to the rotation of the rotating member 102 is based on the plurality of scales. The amount of change is detected.
  • integrally forming the scale scale 105 on the rotating member 102 in this way the influence of the center deviation due to the scale scale 105 can be reduced, and the rotary positioning device 100 can accurately change the angle of the rotating member 102. Can be detected, and the rotating member 102 can be positioned at a target angle position with high accuracy.
  • the rotary positioning device 100 can be made compact, the number of parts can be reduced, and the cost can be reduced.
  • the housing 101 is provided with at least one seat 106 for installing at least one sensor 104.
  • each seat 106 is provided along the circumferential direction of the rotating member 102, and each seat 106 is provided with the rotating member axis 103 of the rotating member 102. It is provided so that the distances from are equal and the distances between adjacent seats 106 are equal.
  • Each sensor 104 is installed on any of two or more seats 106. It is not necessary to install the sensor 104 on all the seats 106, and the sensor 104 may be installed only on any seat 106.
  • Each sensor 104 is installed on its corresponding seat 106 to define the position of each sensor 104 with respect to the rotating member 102 and to define a gap 107 (P) between each sensor 104 and the scale of the scale scale 105. ..
  • the seat 106 guarantees a gap 107 (P) and determines the distance of each sensor 104 from the rotating member axis 103 of the rotating member 102.
  • the distance between two adjacent sensors 104 is determined, and the position (Q) for each sensor 104 to read the scale of the scale scale 105 is guaranteed.
  • the sensor 104 and the scale scale 105 are positioned with respect to the rotating member axis 103 of the rotating member 102, and the rotating positioning device 100 can detect the amount of change in the angle of the rotating member 102 with high accuracy. Then, the rotating member 102 can be positioned at the target angle position with high accuracy.
  • the rotation positioning device 100 may further include a bearing 111 for supporting the rotation of the rotation member 102 with respect to the housing 101.
  • the raceway surface 112 of the bearing 111 may be integrally formed with the rotating member 102 as shown in FIGS. 1 to 3.
  • the sensor 104, the scale scale 105, and the bearing 111 are positioned with respect to the rotary member axis 103 of the rotary member 102, and the rotary positioning device 100 detects the amount of change in the angle of the rotary member 102 with high accuracy.
  • the rotating member 102 can be positioned at the target angle position with high accuracy. Further, as shown in FIG.
  • the central axis of the inner diameter (D1) of the portion of the housing 101 corresponding to the raceway surface 112 is aligned with the rotating member axis 103 of the rotating member 102.
  • radial bearings 111a, first thrust bearings 111b, and second thrust bearings 111c are provided as bearings 111, but the shape of the bearings is not limited to these.
  • the raceway surface 112 of the bearing 111 may be integrally formed with the rotating member 102.
  • FIG. 4A to 4E are related to the rotary positioning device 100 of the embodiment of FIG. 1, in which the rotary member 102 is used as an output shaft, and a rotary table 113 is provided at the end of the rotary member 102 as the output shaft.
  • Scale scales 105 having a plurality of scales at substantially equal intervals are formed integrally with the rotating member 102 in the radial direction with respect to the rotating member axis 103 along the circumferential direction of the rotating member 102.
  • the rotary positioning device 100 may further include a second rotary member 119 that can rotate around the second rotary member axis 120. In the rotary positioning device 100 of FIG.
  • a roller gear cam mechanism having a rotary member 102 as an output shaft and a second rotary member 119 as an input shaft
  • the second rotary member 119 has a screw-shaped cam rib. It is a cam that can rotate about the second rotating member axis 120, and the rotating member 102 can rotate about the rotating member axis 103 that is orthogonal to the second rotating member axis 120.
  • a plurality of bearings as transmission mechanisms 114 are arranged on the rotating member 102 along the circumferential direction thereof.
  • a motor 121 is connected to the second rotating member 119, and the motor 121 is driven to rotate the second rotating member 119 around the second rotating member axis 120 to transmit the input torque of the cam to the transmission mechanism 114.
  • each of the plurality of bearings as the transmission mechanism 114 may be in rolling contact with the cam rib of the second rotating member 119, and may be a roller follower or a cam follower.
  • each of the plurality of bearings as the transmission mechanism 114 includes a shaft member, an outer ring portion that can rotate along the outer peripheral surface of the shaft member, and the like, and rolling contact between the shaft member and the outer ring portion including rollers and the like.
  • the bearing may be a bearing having a sliding contact that does not include rollers or the like. In this case, the shaft member may be directly fitted to the rotating member 102.
  • the second rotating member 119 as the input shaft is a drum-shaped cam, but it may be a cylindrical cam (cylindrical cam, barrel cam) or a drum-shaped cam (globoidal cam).
  • the second rotating member 119 as the input shaft and the rotating member 102 as the output shaft have an extrinsic positional relationship, the inscribed positional relationship depends on the shape of the cam of the second rotating member 119 as the input shaft. May be.
  • the roller gear cam mechanism is adopted in the rotary positioning device 100 of FIG. 4B, any device that can transmit the input torque of the second rotary member 119 to the rotary member 102 via the transmission mechanism 114 is sufficient.
  • a barrel cam mechanism may be adopted, or a gear mechanism may be adopted.
  • At least one seat 106 may be provided in the housing 101 via the sensor flange 108 shown in FIGS. 4D and 4E. That is, the sensor 104 is installed in the housing 101 via the seat portion 106 provided on the sensor flange 108.
  • FIG. 4C shows the shape of the sensor 104 for installation on the seat portion 106 of the sensor flange 108.
  • the sensor flange 108 is provided with a rotating member hole 109 for passing at least a part of the rotating member 102. As shown in FIG. 1, the central axis 110 of the rotating member hole 109 is aligned with the rotating member axis 103 of the rotating member 102. Then, as shown in FIG.
  • the central axis of the inner diameter (D2) of the portion of the housing 101 corresponding to the sensor flange 108 is also aligned with the rotating member axis 103 of the rotating member 102, and as a result, It is also aligned with the central axis 110 of the rotating member hole 109.
  • the sensor flange 108 defines a distance (A) from the mounting surface of the sensor flange 108 for mounting the sensor flange 108 to the housing 101 to the sensor 104 installed on the sensor flange 108, and guarantees a gap 107 (P). .. Further, the sensor flange 108 defines the distance (B) of the seat portion 106 from the central axis 110 of the rotating member hole 109, and defines the position (C) of the seat portion 106 in the circumferential direction of the rotating member hole 109. The sensor 104 guarantees a position (Q) for reading the scale of the scale scale 105.
  • the sensor flange 108 may be provided with a cable hole 118, and a cable is connected to the sensor 104 via the cable hole 118 to signal a signal relating to an angle change amount due to rotation of the rotating member 102 detected by the sensor 104. You may be able to receive it.
  • the housing 101 may be provided with a seal flange 115, or the sensor flange 108 and the seal flange 115 may provide a sensor cable installation space 117 between them. ..
  • a seal 116 may be provided between the rotating member 102 and the sensor flange 108 to prevent the lubricant from entering the sensor cable installation space 117, and the seal 116 may be provided between the rotating member 102 and the seal flange 115. May be provided to isolate the sensor cable installation space 117 from the external space.
  • 5A-5E are related to the rotary positioning device 100 of the embodiment of FIG. 2, and are substantially the same as those of FIGS. 4A-4E, but as shown in FIG. 5B, the scales have a plurality of scales at substantially equal intervals.
  • the scale 105 is integrally formed with the rotating member 102 in a direction parallel to the rotating member axis 103 along the circumferential direction of the rotating member 102.
  • the shape of the sensor flange 108 is changed as shown in FIGS. 5D and 5E, and the shape of the sensor 104 is changed as shown in FIG. 5C.
  • the scale scale 105 may be integrally formed with the rotating member 119.
  • the rotary positioning device 100 is installed in the housing 101, the second rotary member 119 that can rotate about the second rotary member axis 120, and the housing 101. It comprises at least one sensor 104 as an angle detector.
  • a scale scale 105 having a plurality of scales is integrally formed with the second rotating member 119 along the circumferential direction of the second rotating member 119.
  • the scale of the scale scale 105 is integrated with the second rotating member 119 in the radial direction with respect to the second rotating member axis 120 as shown in FIG. 6A along the circumferential direction of the second rotating member 119. It may be formed, or as shown in FIG. 6B, it may be formed integrally with the second rotating member 119 in a direction parallel to the second rotating member axis 120.
  • the rotary positioning device 100 further includes a rotary member 102 as an output shaft that can rotate around the rotary member axis 103, and the rotary member 102 as an output shaft has a transmission mechanism 114 along the circumferential direction of the rotary member 102.
  • the rotating member 102 as an output shaft can rotate with the rotation of the second rotating member 119 when the second rotating member 119 as an input shaft comes into contact with the transmission mechanism 114.
  • the scale scale 105 may be formed on both the rotating member 102 and the second rotating member 119.
  • FIG. 7A and 7B show an enlarged view of the inside of the rotary positioning device 100 according to the embodiment of FIG.
  • the size of the rotary positioning device 100 is changed according to the application, but regardless of the size, the scale scale 105 is similarly formed integrally with the rotary member 102 along the circumferential direction of the rotary member 102. It is possible to realize the rotary positioning device 100 which is not limited in size only by installing the sensor 104.
  • FIG. 8A shows an example of positioning accuracy with respect to the command position when there is no center misalignment between the rotating member 102 and the scale scale 105
  • FIG. 8B shows a center misalignment between the rotating member 102 and the scale scale 105.
  • An example of positioning accuracy with respect to the command position in the case is shown.
  • the positioning accuracy has been improved by about 600 arcsec from a maximum of about 800 arcsec to a maximum of about 200 arcsec with respect to the command position which is the target angle position of the rotating member 102 as an output shaft. This is a specific example.
  • FIG. 9A the rotation positioning device 100 when the scale scale 105 is integrally formed with the portion of the rotating member 102 housed in the housing 101 and the sensor 104 is installed in the sensor cable installation space 117 in the housing 101.
  • FIG. 9B shows a rotary positioning device when an angle detector is externally attached.
  • the external encoder 122 as an angle detector is fixed to the housing via the mounting base 123, and is fitted to the output shaft via the encoder collar 124 and the extension flange 125, and the shaft 126 is connected. Will be done.
  • the rotary positioning device 100 is compared with the conventional one. Can be made compact, the number of parts can be reduced, and the cost can be reduced.
  • the rotary positioning device 100 may employ an angle detector with a self-calibration function as disclosed in Patent Documents 3 to 5 as the angle detector.
  • a plurality of sensors 104 are arranged along the circumferential direction of the rotating member 102 due to its configuration, and each of the plurality of sensors 104 has a structure.
  • Rotation based on the plurality of scales by reading a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 in the radial direction with respect to the rotating member axis 103 along the circumferential direction of the rotating member 102. The amount of change in angle due to the rotation of the member 102 is detected.
  • FIG. 10B shows the positioning accuracy for the scale number calculated from the amount of angle change detected by each of the plurality of sensors 104. Based on the amount of angle change detected by each of the plurality of sensors 104, a calibration curve for removing the angle error shown in FIG. 10C is calculated. Then, by subtracting the angle error due to this calibration curve from the angle change amount of one representative sensor 104, the true angle change amount due to the rotation of the rotary table 113 can be calculated. In this way, by adopting the angle detector with a self-calibration function, the amount of change in the angle of the rotary table 113 can be detected with high accuracy, and the rotary table 113 can be positioned at the target angle position with high accuracy. it can.
  • the number of sensors is eight, but it may be two or more.
  • a plurality of sensors 104 are arranged along the circumferential direction of the rotating member 102 due to its configuration, and each of the plurality of sensors 104 Is based on a plurality of scales by reading a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 in a direction parallel to the rotating member axis 103 along the circumferential direction of the rotating member 102. , The amount of angle change due to the rotation of the rotating member 102 is detected. Even with an angle detector with a self-calibration function as shown in FIG. 10D, the same results as in FIGS. 10B and 10C can be obtained. In FIG. 10D, the number of sensors is 5, but it may be 2 or more.
  • FIG. 11A shows an example of a positioning control method by the rotary positioning device 100 in which the scale scale 105 is formed integrally with the rotary member 102 as the output shaft.
  • FIG. 11B shows an example of a positioning control method by the rotary positioning device 100 in which the scale scale 105 is formed integrally with the second rotary member 119 as the input shaft.
  • the rotary positioning device 100 when the input shaft rotates as shown by an arrow, the rotation angle of the input shaft is transmitted and the output shaft rotates as shown by an arrow, and the rotary table 113 also rotates accordingly.
  • the sensor 104 as an angle detector detects the amount of angle change due to the rotation of the output shaft or the input shaft based on a plurality of scales of the scale scale 105, and the amount of angle change is determined by the controller or driver 127 that drives the motor 121. , It is communicated as a reference angle for positioning the rotary table 113.
  • the controller or driver 127 controls the motor 121 according to the difference between the target angle position and the reference angle, and positions the rotary table 113 at the target angle position with high accuracy.
  • Rotational positioning device 101 Housing 102 Rotating member 103 Rotating member axis 104 Sensor 105 Scale scale 106 Seat 107 Gap 108 Sensor flange 109 Rotating member hole 110 Center axis 111 Bearing 111a Radial bearing 111b First thrust bearing 111c Second thrust bearing 112 Track surface 113 Rotating table 114 Transmission mechanism 115 Seal flange 116 Seal 117 Sensor cable installation space 118 Cable hole 119 Second rotating member 120 Second rotating member Axis 121 Motor 122 External encoder 123 Mounting base 124 Encoder collar 125 Extension Flange 126 Fitting shaft 127 Controller or driver

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

Provided is a rotational positioning device capable of positioning a rotational angle at a target angle position with high precision. A rotational positioning device 100 is provided with: a housing 101; a rotational member 102 which is rotatable about a rotational member axial line 103 and at least a part of which is accommodated in the housing 101; and at least one sensor 104 installed in the housing 101. A graduated scale 105 with a plurality of scale marks is formed integrally with the rotational member 102 along the circumferential direction of the rotational member 102. The at least one sensor 104 detects an angle change amount due to rotation of the rotational member 102 on the basis of the plurality of scale marks. The rotational member 102 is positioned at the target angle position on the basis of the angle change amount.

Description

回転位置決め装置Rotational positioning device

　本発明は、回転角度を目標角度位置に高精度に位置決めすることが可能である回転位置決め装置に関するものである。 The present invention relates to a rotary positioning device capable of positioning a rotary angle at a target angle position with high accuracy.

　回転位置決め装置は、一般的に、モータ等の駆動力が入力される入力軸と、工作機械の加工ワーク等を積載するための回転テーブルが取り付けられる出力軸を有し、入力軸や出力軸に取り付けられたエンコーダ等の角度検出器によって、回転テーブルの回転による角度変化量を検出し、検出された角度変化量を元にドライバ及びモータを制御することによって、回転テーブルを回転させて目標角度位置に位置決めする。 The rotary positioning device generally has an input shaft into which a driving force of a motor or the like is input and an output shaft on which a rotary table for loading a machining work of a machine tool or the like is mounted. The angle detector such as the attached encoder detects the amount of angle change due to the rotation of the rotary table, and by controlling the driver and motor based on the detected angle change amount, the rotary table is rotated to the target angle position. Position to.

　特許文献１には、互いに立体交差する２本の回転軸線の周りにそれぞれ回転可能に設けられ、互いに噛み合わされたローラギヤとローラギヤカムとを含むローラタレットカムインデックス装置が開示されている。このローラタレットカムインデックス装置においては、回転角度検出器であるエンコーダを、アダプタによってハウジングに固定し、エンコーダの入力軸を、カップリングによってローラギヤのローラギヤ軸に相対回転不能に接続し、ローラギヤ軸の回転をエンコーダによって検出する。エンコーダによる検出値は、ローラギヤの回転停止位置、すなわち割出位置を表す。 Patent Document 1 discloses a roller turret cam index device that is rotatably provided around two rotation axes that cross over each other and includes a roller gear and a roller gear cam that are meshed with each other. In this roller turret cam index device, the encoder, which is a rotation angle detector, is fixed to the housing by an adapter, and the input shaft of the encoder is connected to the roller gear shaft of the roller gear by coupling so as not to rotate relative to the roller gear shaft. Is detected by the encoder. The value detected by the encoder represents the rotation stop position of the roller gear, that is, the indexing position.

　特許文献２には、ワークが搭載される円テーブルと、円テーブルを支持する回転軸と、回転軸を回転可能に支持するフレームと、フレームと回転軸との間に収容されるモータとを備える回転テーブル装置が開示されている。モータを駆動させると、フレームに対して円テーブルが回転軸と一緒に、回転軸の軸線を中心にして回転して、その角度位置が割り出される。回転軸は、２つの軸部材から成り、両軸部材をそれらの軸線を一致させた状態で組み合わせ、ネジ部材によって連結した構成である。フレームと回転軸との間に環状の空間部が存在し、空間部に、モータ、スラスト軸受、ラジアル軸受、回転検出器が設けられる。回転検出器は、回転軸の回転量を検出するためのエンコーダと、エンコーダに検出される被検出子とを備え、回転軸の一方の軸部材に別途設けられた被検出子を、フレームに設けられたエンコーダが検出し、エンコーダからの検出信号に基づいて回転軸の回転量が検出される。 Patent Document 2 includes a circular table on which a work is mounted, a rotating shaft that supports the circular table, a frame that rotatably supports the rotating shaft, and a motor housed between the frame and the rotating shaft. A rotary table device is disclosed. When the motor is driven, the circular table rotates about the axis of the rotation axis together with the rotation axis with respect to the frame, and the angular position thereof is determined. The rotating shaft is composed of two shaft members, and both shaft members are combined in a state where their axes are aligned and connected by a screw member. An annular space exists between the frame and the rotation shaft, and a motor, a thrust bearing, a radial bearing, and a rotation detector are provided in the space. The rotation detector includes an encoder for detecting the amount of rotation of the rotating shaft and a detector detected by the encoder, and a detector separately provided on one shaft member of the rotating shaft is provided on the frame. Detected by the encoder, the amount of rotation of the rotating shaft is detected based on the detection signal from the encoder.

特開２０００－１５８２９３号公報Japanese Unexamined Patent Publication No. 2000-158293 特開２０１０－９９７８９号公報Japanese Unexamined Patent Publication No. 2010-999789 特開２００６－９８３９２号公報Japanese Unexamined Patent Publication No. 2006-98392 特開２０１１－９９８０２号公報Japanese Unexamined Patent Publication No. 2011-99002 特開２０１１－９９８０４号公報Japanese Unexamined Patent Publication No. 2011-99004

　特許文献１のローラタレットカムインデックス装置においては、エンコーダを外付けしているために、エンコーダの体積分、ローラタレットカムインデックス装置のサイズが大型化し、更には高コスト化に繋がるという問題点がある。また、エンコーダを外付けにする場合、エンコーダの入力軸とローラギヤ軸とを接続する際の組立時に、エンコーダの入力軸の回転軸線とローラギヤ軸の回転軸線との間のオフセット、いわゆる心ズレが生じ、この心ズレによる組立誤差の影響を受けることによって、エンコーダによって検出されたローラギヤの角度変化量に誤差が生じ、更にはローラギヤの目標角度位置にも誤差が生じるという問題点がある。また、ローラギヤは通常、中空となっているが、エンコーダを外付けにする場合、構造上、中空の一方の開口が塞がれてしまうので、中空を介してケーブル、油圧部品、等を貫通することができないという問題点がある。 In the roller turret cam indexing device of Patent Document 1, since the encoder is externally attached, there is a problem that the volume of the encoder and the size of the roller turret cam indexing device become large, which leads to an increase in cost. .. In addition, when the encoder is externally attached, an offset between the rotation axis of the input shaft of the encoder and the rotation axis of the roller gear shaft, so-called misalignment, occurs during assembly when connecting the input shaft of the encoder and the roller gear shaft. Due to the influence of the assembly error due to this misalignment, there is a problem that an error occurs in the amount of change in the angle of the roller gear detected by the encoder, and further, an error occurs in the target angle position of the roller gear. Further, the roller gear is usually hollow, but when the encoder is externally attached, one of the hollow openings is structurally blocked, so the cable, the hydraulic component, etc. are penetrated through the hollow. There is a problem that it cannot be done.

　特許文献２の回転テーブル装置においては、回転軸が２つの軸部材から成り、両軸部材をそれらの軸線を一致させた状態で組み合わせているものの、引用文献１と同様に、２つの軸部材を組み合わせる際の組立時に心ズレが生じ、また、回転軸の一方の軸部材に被検出子を別途設ける際の組立時にも心ズレが生じ、これらの心ズレによる組立誤差の影響を受けることによって、回転検出器によって検出された回転軸の角度変化量に誤差が生じ、更には回転軸の目標角度位置にも誤差が生じるという問題点がある。また、軸受の軌道面が回転軸に別途設けられており、軌道面を別途設ける際の組立時における組立誤差によって、回転検出器によって検出された回転軸の角度変化量に誤差が生じ、更には回転軸の目標角度位置にも誤差が生じるという問題点がある。 In the rotary table device of Patent Document 2, the rotating shaft is composed of two shaft members, and both shaft members are combined in a state where their axes are aligned, but the two shaft members are used as in Cited Document 1. Center misalignment occurs during assembly when assembling, and center misalignment also occurs during assembly when a detector is separately provided on one of the rotating shaft members, which is affected by assembly errors due to these center misalignments. There is a problem that an error occurs in the amount of change in the angle of the rotating shaft detected by the rotation detector, and further, an error occurs in the target angle position of the rotating shaft. Further, the raceway surface of the bearing is separately provided on the rotating shaft, and an error occurs in the amount of change in the angle of the rotating shaft detected by the rotation detector due to the assembly error at the time of assembling when the raceway surface is separately provided, and further. There is a problem that an error occurs in the target angle position of the rotation axis.

　従って、本発明の目的は、上記問題点を解決して、回転角度を目標角度位置に高精度に位置決めすることが可能である回転位置決め装置を提供することである。 Therefore, an object of the present invention is to provide a rotational positioning device capable of solving the above-mentioned problems and positioning the rotational angle at a target angle position with high accuracy.

　本発明の１つの観点によれば、回転位置決め装置が、ハウジングと、回転部材軸線を中心として回転可能な回転部材であって、回転部材の少なくとも一部がハウジング内に収容されている、回転部材と、ハウジングに設置された少なくとも１つのセンサとを備え、複数の目盛を有する目盛スケールが、回転部材の円周方向に沿って回転部材に一体として形成され、少なくとも１つのセンサが、複数の目盛に基づいて回転部材の回転による角度変化量を検出し、回転部材が、角度変化量に基づいて目標角度位置に位置決めされる。 According to one aspect of the present invention, the rotary positioning device is a rotary member that is rotatable about a housing and a rotary member axis, and at least a part of the rotary member is housed in the housing. And at least one sensor installed in the housing, a scale scale having a plurality of scales is formed integrally with the rotating member along the circumferential direction of the rotating member, and at least one sensor has a plurality of scales. The amount of change in angle due to rotation of the rotating member is detected based on the above, and the rotating member is positioned at the target angle position based on the amount of change in angle.

　本発明の一具体例によれば、回転位置決め装置において、目盛スケールが、回転部材軸線に対して放射方向に又は回転部材軸線に対して平行方向に、回転部材に一体として形成されている。 According to a specific example of the present invention, in the rotary positioning device, the scale scale is formed integrally with the rotary member in the radial direction with respect to the rotary member axis or in the direction parallel to the rotary member axis.

　本発明の一具体例によれば、回転位置決め装置において、ハウジングには、少なくとも１つの座部が設けられ、少なくとも１つのセンサの各々が、各センサの位置及び各センサと目盛との間の隙間を画定するようにその対応する座部に設置されている。 According to a specific example of the present invention, in the rotary positioning device, the housing is provided with at least one seat, and each of the at least one sensor has a position of each sensor and a gap between each sensor and the scale. Is installed on its corresponding seat to demarcate.

　本発明の一具体例によれば、回転位置決め装置において、少なくとも１つの座部が、センサフランジを介してハウジングに設けられる。 According to a specific example of the present invention, in the rotary positioning device, at least one seat is provided on the housing via the sensor flange.

　本発明の一具体例によれば、回転位置決め装置において、センサフランジには、回転部材の少なくとも一部を通すための回転部材孔が設けられ、回転部材孔の中心軸線が回転部材軸線と整列している。 According to a specific example of the present invention, in the rotary positioning device, the sensor flange is provided with a rotary member hole for passing at least a part of the rotary member, and the central axis of the rotary member hole is aligned with the rotary member axis. ing.

　本発明の一具体例によれば、回転位置決め装置において、少なくとも１つの座部が、回転部材の円周方向に沿って設けられた２つ以上の座部であって、２つ以上の座部が、回転部材軸線からの距離が等しく、且つ隣接する座部間の距離が等しくなるように設けられ、少なくとも１つのセンサが、２つ以上のセンサであって、２つ以上のセンサの各々が、２つ以上の座部の何れかに設置されている。 According to a specific example of the present invention, in the rotary positioning device, at least one seat is two or more seats provided along the circumferential direction of the rotating member, and the two or more seats are provided. However, the distances from the axis of the rotating member are equal, and the distances between adjacent seats are equal. At least one sensor is two or more sensors, and each of the two or more sensors is It is installed in any of two or more seats.

　本発明の一具体例によれば、回転位置決め装置が、ハウジングに対して回転部材の回転を支持するための軸受を更に備え、軸受の軌道面が、回転部材に一体として形成されている。 According to a specific example of the present invention, the rotary positioning device further includes a bearing for supporting the rotation of the rotary member with respect to the housing, and the raceway surface of the bearing is formed integrally with the rotary member.

　本発明の一具体例によれば、回転位置決め装置において、目盛スケールが、ハウジング内に収容されている回転部材の部分に一体として形成されている。 According to a specific example of the present invention, in the rotary positioning device, the scale scale is integrally formed with the portion of the rotary member housed in the housing.

　本発明の一具体例によれば、回転位置決め装置において、回転部材が出力軸であって、出力軸の端部には回転テーブルが設けられ、目盛スケールが、回転テーブルに隣接する出力軸の部分に一体として形成されている。 According to a specific example of the present invention, in the rotary positioning device, the rotary member is an output shaft, a rotary table is provided at the end of the output shaft, and the scale scale is a portion of the output shaft adjacent to the rotary table. It is formed as one.

　本発明の一具体例によれば、回転位置決め装置において、回転部材が入力軸であって、回転位置決め装置が、出力軸線を中心として回転可能な出力軸であって、出力軸の円周方向に沿って伝達機構が設置された出力軸を更に備え、出力軸が、入力軸が伝達機構に接触することによって入力軸の回転に伴って回転することができる。 According to a specific example of the present invention, in the rotary positioning device, the rotary member is an input shaft, and the rotary positioning device is an output shaft that can rotate about an output axis line in the circumferential direction of the output shaft. An output shaft is further provided along which a transmission mechanism is installed, and the output shaft can rotate with the rotation of the input shaft when the input shaft comes into contact with the transmission mechanism.

　本発明によれば、回転位置決め装置は、高精度に回転部材の角度変化量を検出することができ、更には回転部材を目標角度位置に高精度に位置決めすることができる。 According to the present invention, the rotary positioning device can detect the amount of change in the angle of the rotating member with high accuracy, and can further position the rotating member at the target angle position with high accuracy.

　なお、本発明の他の目的、特徴及び利点は、添付図面に関する以下の本発明の実施例の記載から明らかになるであろう。 It should be noted that other objects, features and advantages of the present invention will be clarified from the following description of the examples of the present invention with respect to the accompanying drawings.

本発明の一実施形態としての、目盛スケールが回転部材軸線に対して放射方向に一体として形成される、回転位置決め装置の断面図である。FIG. 5 is a cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in the radial direction with respect to a rotary member axis according to an embodiment of the present invention. 本発明の別の実施形態としての、目盛スケールが回転部材軸線に対して平行方向に一体として形成される、回転位置決め装置の断面図である。FIG. 5 is a cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention. 本発明の別の実施形態としての、目盛スケールが回転部材軸線に対して平行方向に一体として形成される、回転位置決め装置の一部断面図である。FIG. 5 is a partial cross-sectional view of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention. 図１の実施形態の回転位置決め装置の斜視図である。It is a perspective view of the rotary positioning apparatus of the embodiment of FIG. 図１の実施形態の回転位置決め装置の内部の斜視図である。It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG. 図１の実施形態の回転位置決め装置におけるセンサの斜視図である。It is a perspective view of the sensor in the rotary positioning apparatus of the embodiment of FIG. 図１の実施形態の回転位置決め装置におけるセンサフランジの上方及び下方から見た斜視図である。It is a perspective view seen from the upper side and the lower side of the sensor flange in the rotary positioning device of the embodiment of FIG. 図１の実施形態の回転位置決め装置におけるセンサフランジの底面図である。It is a bottom view of the sensor flange in the rotary positioning apparatus of the embodiment of FIG. 図２の実施形態の回転位置決め装置の斜視図である。It is a perspective view of the rotary positioning apparatus of the embodiment of FIG. 図２の実施形態の回転位置決め装置の内部の斜視図である。It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG. 図２の実施形態の回転位置決め装置におけるセンサの斜視図である。It is a perspective view of the sensor in the rotary positioning apparatus of the embodiment of FIG. 図２の実施形態の回転位置決め装置におけるセンサフランジの上方及び下方から見た斜視図である。It is a perspective view seen from the upper side and the lower side of the sensor flange in the rotary positioning device of the embodiment of FIG. 図２の実施形態の回転位置決め装置におけるセンサフランジの底面図である。It is a bottom view of the sensor flange in the rotary positioning device of the embodiment of FIG. 本発明の別の実施形態としての、目盛スケールが回転部材軸線に対して放射方向に一体として形成される、回転位置決め装置の内部の一部斜視図である。FIG. 5 is a partial perspective view of the inside of a rotary positioning device in which a scale scale is integrally formed in the radial direction with respect to a rotary member axis as another embodiment of the present invention. 本発明の別の実施形態としての、目盛スケールが回転部材軸線に対して平行方向に一体として形成される、回転位置決め装置の内部の一部斜視図である。FIG. 5 is a partial perspective view of the inside of a rotary positioning device in which a scale scale is integrally formed in a direction parallel to a rotary member axis as another embodiment of the present invention. 図２の実施形態の回転位置決め装置の内部の斜視図である。It is a perspective view of the inside of the rotary positioning apparatus of the embodiment of FIG. 図２の実施形態の回転位置決め装置の一部断面図である。It is a partial cross-sectional view of the rotary positioning apparatus of the embodiment of FIG. 本発明による指令位置に対する位置決め精度を示す図である。It is a figure which shows the positioning accuracy with respect to the command position by this invention. 従来技術による指令位置に対する位置決め精度を示す図である。It is a figure which shows the positioning accuracy with respect to the command position by a prior art. 本発明による回転位置決め装置の断面図である。It is sectional drawing of the rotary positioning apparatus by this invention. 従来技術による回転位置決め装置の断面図である。It is sectional drawing of the rotary positioning apparatus by a prior art. 一自己校正機能付き角度検出器の概略図である。(I) It is a schematic diagram of an angle detector with a self-calibration function. 図１０Ａの自己校正機能付き角度検出器の各センサによる目盛番号に対する位置決め精度を示す図である。It is a figure which shows the positioning accuracy with respect to the scale number by each sensor of the angle detector with a self-calibration function of FIG. 10A. 図１０Ａの自己校正機能付き角度検出器から算出された目盛番号に対する自己校正値を示す図である。It is a figure which shows the self-calibration value with respect to the scale number calculated from the angle detector with a self-calibration function of FIG. 10A. 別の自己校正機能付き角度検出器の概略図である。It is a schematic diagram of another angle detector with a self-calibration function. 本発明の一実施形態としての位置決め制御方法の図である。It is a figure of the positioning control method as one Embodiment of this invention. 本発明の別の実施形態としての位置決め制御方法の図である。It is a figure of the positioning control method as another embodiment of this invention.

　以下、本発明の実施例について図面を参照して説明するが、本発明はこれらの実施例に限定されるものではない。 Hereinafter, examples of the present invention will be described with reference to the drawings, but the present invention is not limited to these examples.

　まず図１～図３を参照して、本発明による幾つかの実施形態としての回転位置決め装置１００について説明する。図１～図３は、回転位置決め装置１００の断面図を示す。回転位置決め装置１００は、ハウジング１０１と、回転部材軸線１０３を中心として回転可能な回転部材１０２と、ハウジング１０１に設置されている、角度検出器としての少なくとも１つのセンサ１０４とを備える。図１においては、回転部材１０２は、全体がハウジング１０１内に収容されているが、回転部材１０２の少なくとも一部がハウジング１０１内に収容されていてもよい。複数の目盛を有する目盛スケール１０５が、回転部材１０２の円周方向に沿って回転部材１０２に一体として形成される。 First, the rotary positioning device 100 as some embodiments according to the present invention will be described with reference to FIGS. 1 to 3. 1 to 3 show a cross-sectional view of the rotary positioning device 100. The rotation positioning device 100 includes a housing 101, a rotation member 102 that can rotate about the rotation member axis 103, and at least one sensor 104 as an angle detector installed in the housing 101. In FIG. 1, the rotating member 102 is entirely housed in the housing 101, but at least a part of the rotating member 102 may be housed in the housing 101. A scale scale 105 having a plurality of scales is integrally formed with the rotating member 102 along the circumferential direction of the rotating member 102.

　目盛スケール１０５の目盛は、回転部材１０２の円周方向に沿って、図１に示すように、回転部材軸線１０３に対して放射方向に回転部材１０２に一体として形成されてもよく、又は図２に示すように、回転部材軸線１０３に対して平行方向に回転部材１０２に一体として形成されてもよい。目盛は、歯車状に回転部材１０２に一体として形成されたものであってもよく、又は線状に回転部材１０２を刻んだものであってもよい。また、目盛は、視覚的に認識できるものだけではなく、目盛スケール１０５における所定の位置間隔を１目盛分の間隔としてセンサ１０４に対して読み取らせることができるものであればよい。目盛スケール１０５は、回転部材１０２のうちの何れの部分の円周方向に沿って、回転部材１０２に一体として形成されてもよい。例えば、目盛スケール１０５は、図１、図２に示すように、回転部材１０２の下側の部分に形成されてもよく、図３に示すように、回転部材１０２の上側の部分に形成されてもよい。また、目盛スケール１０５は、図１、図２に示すように、ハウジング１０１内にある回転部材１０２の部分に形成されてもよく、図３に示すように、ハウジング１０１外にある回転部材１０２の部分に形成されてもよい。 The scale of the scale scale 105 may be formed integrally with the rotating member 102 in the radial direction with respect to the rotating member axis 103 as shown in FIG. 1 along the circumferential direction of the rotating member 102, or FIG. As shown in the above, the rotating member 102 may be integrally formed in a direction parallel to the rotating member axis 103. The scale may be formed integrally with the rotating member 102 in a gear shape, or may be a linearly engraved rotating member 102. Further, the scale is not limited to one that can be visually recognized, and any scale may be used as long as it can be read by the sensor 104 with a predetermined position interval on the scale scale 105 as an interval for one scale. The scale scale 105 may be integrally formed with the rotating member 102 along the circumferential direction of any portion of the rotating member 102. For example, the scale scale 105 may be formed on the lower portion of the rotating member 102 as shown in FIGS. 1 and 2, or may be formed on the upper portion of the rotating member 102 as shown in FIG. May be good. Further, the scale scale 105 may be formed on a portion of the rotating member 102 inside the housing 101 as shown in FIGS. 1 and 2, and as shown in FIG. 3, the scale scale 105 may be formed on the rotating member 102 outside the housing 101. It may be formed in a portion.

　回転位置決め装置１００において回転部材１０２が出力軸である場合には、図１～図３に示すように、出力軸としての回転部材１０２の端部には回転テーブル１１３が設けられる。回転テーブル１１３は、回転部材１０２が回転部材軸線１０３を中心として回転すると、それに伴って回転する。目盛スケール１０５は、図１、図２に示すように、ハウジング１０１内に収容されている出力軸としての回転部材１０２の部分に一体として形成されてもよい。目盛スケール１０５は、回転部材１０２の下側の部分に形成されてもよく、回転部材１０２の上側の部分に形成されてもよい。出力軸としての回転部材１０２に目盛スケール１０５を一体として形成することによって、回転テーブル１１３の角度変化量を高精度に検出することができ、そして回転テーブル１１３を目標角度位置に高精度に位置決めすることができる。なお、図１～図３に示すように、回転部材１０２には伝達機構１１４が設けられてもよく、入力軸からの駆動力を、伝達機構１１４を介して伝達して、出力軸としての回転部材１０２を回転させてもよい。また、回転部材１０２には伝達機構１１４が設けられていなくてもよく、回転部材１０２にモータ等の駆動装置を直接接続して、回転部材１０２を回転させてもよい。 When the rotary member 102 is an output shaft in the rotary positioning device 100, a rotary table 113 is provided at the end of the rotary member 102 as the output shaft, as shown in FIGS. 1 to 3. When the rotary member 102 rotates about the rotary member axis 103, the rotary table 113 rotates accordingly. As shown in FIGS. 1 and 2, the scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft housed in the housing 101. The scale scale 105 may be formed on the lower portion of the rotating member 102, or may be formed on the upper portion of the rotating member 102. By integrally forming the scale scale 105 on the rotating member 102 as the output shaft, the amount of change in the angle of the rotary table 113 can be detected with high accuracy, and the rotary table 113 is positioned at the target angle position with high accuracy. be able to. As shown in FIGS. 1 to 3, the rotating member 102 may be provided with a transmission mechanism 114, and the driving force from the input shaft is transmitted via the transmission mechanism 114 to rotate the rotating member 102 as an output shaft. The member 102 may be rotated. Further, the rotating member 102 may not be provided with the transmission mechanism 114, and the rotating member 102 may be rotated by directly connecting a driving device such as a motor to the rotating member 102.

　目盛スケール１０５は、回転テーブル１１３に隣接する出力軸としての回転部材１０２の部分に一体として形成されてもよい。例えば、目盛スケール１０５は、図３に示すように、ハウジング１０１と回転テーブル１１３との間の出力軸としての回転部材１０２の部分に一体として形成されてもよい。目盛スケール１０５を回転テーブル１１３に隣接するように出力軸としての回転部材１０２に一体として形成することによって、更に回転テーブル１１３の角度変化量を高精度に検出することができ、そして回転テーブル１１３を目標角度位置に高精度に位置決めすることができる。 The scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft adjacent to the rotary table 113. For example, as shown in FIG. 3, the scale scale 105 may be integrally formed with a portion of the rotating member 102 as an output shaft between the housing 101 and the rotary table 113. By integrally forming the scale scale 105 with the rotating member 102 as an output shaft so as to be adjacent to the rotary table 113, the amount of change in the angle of the rotary table 113 can be detected with high accuracy, and the rotary table 113 can be detected. It can be positioned at the target angle position with high accuracy.

　センサ１０４は、目盛スケール１０５の目盛を読み取ることができれば特に原理は問われない。センサ１０４としては、例えば、光学式センサ、磁気式センサ、コイル、等がある。例えば、センサ１０４として光学式センサを設置する場合には、光の反射状態や透過状態を変化させるために、線状に回転部材１０２を刻んだものを目盛として回転部材１０２に一体として形成し、センサ１０４として磁気式センサを設置する場合には、磁極を変化させるために、歯車状に回転部材１０２に構成されたものを目盛として回転部材１０２に一体として形成してもよい。センサ１０４が、回転部材１０２の円周方向に沿って回転部材１０２に一体として形成された複数の目盛を有する目盛スケール１０５を読み取ることによって、複数の目盛に基づいて、回転部材１０２の回転による角度変化量が検出される。このように、回転部材１０２に目盛スケール１０５を一体として形成することによって、目盛スケール１０５による心ズレの影響を小さくすることができ、回転位置決め装置１００は、高精度に回転部材１０２の角度変化量を検出することができ、そして回転部材１０２を目標角度位置に高精度に位置決めすることができる。また、回転位置決め装置１００のコンパクト化と部品点数削減を実現し、コストも低減することができる。 The principle of the sensor 104 is not particularly limited as long as it can read the scale of the scale scale 105. Examples of the sensor 104 include an optical sensor, a magnetic sensor, a coil, and the like. For example, when an optical sensor is installed as the sensor 104, in order to change the light reflection state and the light transmission state, a linearly carved rotating member 102 is formed integrally with the rotating member 102 as a scale. When a magnetic sensor is installed as the sensor 104, in order to change the magnetic poles, a gear-shaped rotating member 102 may be integrally formed with the rotating member 102 as a scale. The sensor 104 reads a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 along the circumferential direction of the rotating member 102, so that the angle due to the rotation of the rotating member 102 is based on the plurality of scales. The amount of change is detected. By integrally forming the scale scale 105 on the rotating member 102 in this way, the influence of the center deviation due to the scale scale 105 can be reduced, and the rotary positioning device 100 can accurately change the angle of the rotating member 102. Can be detected, and the rotating member 102 can be positioned at a target angle position with high accuracy. In addition, the rotary positioning device 100 can be made compact, the number of parts can be reduced, and the cost can be reduced.

　ハウジング１０１には、少なくとも１つのセンサ１０４を設置するための少なくとも１つの座部１０６が設けられる。ハウジング１０１に２つ以上の座部１０６が設けられる場合には、各座部１０６は、回転部材１０２の円周方向に沿って設けられ、各座部１０６は、回転部材１０２の回転部材軸線１０３からの距離が等しく、且つ隣接する座部１０６間の距離が等しくなるように設けられる。各センサ１０４は、２つ以上の座部１０６の何れかに設置される。なお、全ての座部１０６にセンサ１０４を設置しなくてもよく、任意の座部１０６にのみセンサ１０４を設置してもよい。各センサ１０４はその対応する座部１０６に設置されて、回転部材１０２に対する各センサ１０４の位置が画定され、各センサ１０４と目盛スケール１０５の目盛との間の隙間１０７（Ｐ）が画定される。座部１０６によって、隙間１０７（Ｐ）が保証され、また、回転部材１０２の回転部材軸線１０３からの各センサ１０４の距離が決定される。２つの以上のセンサ１０４が設置される場合には隣接する２つのセンサ１０４間の距離が決定され、各センサ１０４が目盛スケール１０５の目盛を読み取るための位置（Ｑ）が保証される。これによって、回転部材１０２の回転部材軸線１０３に対して、センサ１０４及び目盛スケール１０５が位置決めされており、回転位置決め装置１００は、高精度に回転部材１０２の角度変化量を検出することができ、そして回転部材１０２を目標角度位置に高精度に位置決めすることができる。 The housing 101 is provided with at least one seat 106 for installing at least one sensor 104. When two or more seats 106 are provided in the housing 101, each seat 106 is provided along the circumferential direction of the rotating member 102, and each seat 106 is provided with the rotating member axis 103 of the rotating member 102. It is provided so that the distances from are equal and the distances between adjacent seats 106 are equal. Each sensor 104 is installed on any of two or more seats 106. It is not necessary to install the sensor 104 on all the seats 106, and the sensor 104 may be installed only on any seat 106. Each sensor 104 is installed on its corresponding seat 106 to define the position of each sensor 104 with respect to the rotating member 102 and to define a gap 107 (P) between each sensor 104 and the scale of the scale scale 105. .. The seat 106 guarantees a gap 107 (P) and determines the distance of each sensor 104 from the rotating member axis 103 of the rotating member 102. When two or more sensors 104 are installed, the distance between two adjacent sensors 104 is determined, and the position (Q) for each sensor 104 to read the scale of the scale scale 105 is guaranteed. As a result, the sensor 104 and the scale scale 105 are positioned with respect to the rotating member axis 103 of the rotating member 102, and the rotating positioning device 100 can detect the amount of change in the angle of the rotating member 102 with high accuracy. Then, the rotating member 102 can be positioned at the target angle position with high accuracy.

　回転位置決め装置１００は、ハウジング１０１に対して回転部材１０２の回転を支持するための軸受１１１を更に備えてもよい。軸受１１１の軌道面１１２は、図１～図３に示すように、回転部材１０２に一体として形成されてもよい。これによって、回転部材１０２の回転部材軸線１０３に対して、センサ１０４、目盛スケール１０５、及び軸受１１１が位置決めされており、回転位置決め装置１００は、高精度に回転部材１０２の角度変化量を検出することができ、そして回転部材１０２を目標角度位置に高精度に位置決めすることができる。また、軌道面１１２に対応するハウジング１０１の部分の内径（Ｄ１）の中心軸線は、図１に示すように、回転部材１０２の回転部材軸線１０３と整列するようになっている。なお、図１～図３においては、軸受１１１としてラジアル軸受１１１ａ、第１のスラスト軸受１１１ｂ、及び第２のスラスト軸受１１１ｃが設けられているが、軸受の形状はこれに限定されるものではなく、軸受１１１の軌道面１１２が、回転部材１０２に一体として形成されていればよい。 The rotation positioning device 100 may further include a bearing 111 for supporting the rotation of the rotation member 102 with respect to the housing 101. The raceway surface 112 of the bearing 111 may be integrally formed with the rotating member 102 as shown in FIGS. 1 to 3. As a result, the sensor 104, the scale scale 105, and the bearing 111 are positioned with respect to the rotary member axis 103 of the rotary member 102, and the rotary positioning device 100 detects the amount of change in the angle of the rotary member 102 with high accuracy. And the rotating member 102 can be positioned at the target angle position with high accuracy. Further, as shown in FIG. 1, the central axis of the inner diameter (D1) of the portion of the housing 101 corresponding to the raceway surface 112 is aligned with the rotating member axis 103 of the rotating member 102. In FIGS. 1 to 3, radial bearings 111a, first thrust bearings 111b, and second thrust bearings 111c are provided as bearings 111, but the shape of the bearings is not limited to these. The raceway surface 112 of the bearing 111 may be integrally formed with the rotating member 102.

　図４Ａ～図４Ｅは、図１の実施形態の回転位置決め装置１００に関連し、回転部材１０２を出力軸とし、出力軸としての回転部材１０２の端部には回転テーブル１１３が設けられる。複数の略等間隔の目盛を有する目盛スケール１０５が、回転部材１０２の円周方向に沿って、回転部材軸線１０３に対して放射方向に回転部材１０２に一体として形成される。また、回転位置決め装置１００は、第２の回転部材軸線１２０を中心として回転可能な第２の回転部材１１９を更に備えてもよい。図４Ｂの回転位置決め装置１００においては、回転部材１０２を出力軸とし、第２の回転部材１１９を入力軸とするローラギヤカム機構が採用され、第２の回転部材１１９は、スクリュー形状のカムリブを有する、第２の回転部材軸線１２０を中心として回転可能なカムであって、回転部材１０２は、第２の回転部材軸線１２０に直交する回転部材軸線１０３を中心として回転可能である。回転部材１０２には、その円周方向に沿って、伝達機構１１４としての複数の軸受が配置される。第２の回転部材１１９にはモータ１２１が接続され、モータ１２１が駆動して第２の回転部材１１９を第２の回転部材軸線１２０を中心として回転させることによって、カムの入力トルクを伝達機構１１４としての複数の軸受を介して回転部材１０２に伝達して、回転部材軸線１０３を中心として回転部材１０２を回転させる。伝達機構１１４としての複数の軸受の各々は、第２の回転部材１１９のカムリブに対して転がり接触してもよく、ローラフォロア又はカムフォロアであってもよい。また、伝達機構１１４としての複数の軸受の各々は、軸部材、軸部材の外周面に沿って回転可能な外輪部、等を備え、軸部材と外輪部との間にころ等を含む転がり接触の軸受であってもよく、ころ等を含まない滑り接触の軸受であってもよい。この場合、軸部材が、回転部材１０２に直接嵌合されてもよい。 4A to 4E are related to the rotary positioning device 100 of the embodiment of FIG. 1, in which the rotary member 102 is used as an output shaft, and a rotary table 113 is provided at the end of the rotary member 102 as the output shaft. Scale scales 105 having a plurality of scales at substantially equal intervals are formed integrally with the rotating member 102 in the radial direction with respect to the rotating member axis 103 along the circumferential direction of the rotating member 102. Further, the rotary positioning device 100 may further include a second rotary member 119 that can rotate around the second rotary member axis 120. In the rotary positioning device 100 of FIG. 4B, a roller gear cam mechanism having a rotary member 102 as an output shaft and a second rotary member 119 as an input shaft is adopted, and the second rotary member 119 has a screw-shaped cam rib. It is a cam that can rotate about the second rotating member axis 120, and the rotating member 102 can rotate about the rotating member axis 103 that is orthogonal to the second rotating member axis 120. A plurality of bearings as transmission mechanisms 114 are arranged on the rotating member 102 along the circumferential direction thereof. A motor 121 is connected to the second rotating member 119, and the motor 121 is driven to rotate the second rotating member 119 around the second rotating member axis 120 to transmit the input torque of the cam to the transmission mechanism 114. It is transmitted to the rotating member 102 through the plurality of bearings as the above, and the rotating member 102 is rotated about the rotating member axis 103. Each of the plurality of bearings as the transmission mechanism 114 may be in rolling contact with the cam rib of the second rotating member 119, and may be a roller follower or a cam follower. Further, each of the plurality of bearings as the transmission mechanism 114 includes a shaft member, an outer ring portion that can rotate along the outer peripheral surface of the shaft member, and the like, and rolling contact between the shaft member and the outer ring portion including rollers and the like. The bearing may be a bearing having a sliding contact that does not include rollers or the like. In this case, the shaft member may be directly fitted to the rotating member 102.

　図４Ｂにおいては、入力軸としての第２の回転部材１１９は鼓形カムであるが、円筒形カム（ｃｙｌｉｎｄｒｉｃａｌ　ｃａｍ、ｂａｒｒｅｌ　ｃａｍ）、太鼓形カム（ｇｌｏｂｏｉｄａｌ　ｃａｍ）であってもよい。また、入力軸としての第２の回転部材１１９と出力軸としての回転部材１０２とは外接する位置関係にあるが、入力軸としての第２の回転部材１１９のカムの形状によって、内接する位置関係にあってもよい。また、図４Ｂの回転位置決め装置１００においてはローラギヤカム機構が採用されているが、第２の回転部材１１９の入力トルクを回転部材１０２に伝達機構１１４を介して伝達することができるものであればよく、例えば、バレルカム機構が採用されてもよいし、歯車機構が採用されてもよい。 In FIG. 4B, the second rotating member 119 as the input shaft is a drum-shaped cam, but it may be a cylindrical cam (cylindrical cam, barrel cam) or a drum-shaped cam (globoidal cam). Further, although the second rotating member 119 as the input shaft and the rotating member 102 as the output shaft have an extrinsic positional relationship, the inscribed positional relationship depends on the shape of the cam of the second rotating member 119 as the input shaft. May be. Further, although the roller gear cam mechanism is adopted in the rotary positioning device 100 of FIG. 4B, any device that can transmit the input torque of the second rotary member 119 to the rotary member 102 via the transmission mechanism 114 is sufficient. For example, a barrel cam mechanism may be adopted, or a gear mechanism may be adopted.

　少なくとも１つの座部１０６は、図４Ｄ、図４Ｅに示すセンサフランジ１０８を介してハウジング１０１に設けられてもよい。すなわち、センサ１０４は、センサフランジ１０８に設けられた座部１０６を介してハウジング１０１に設置される。図４Ｃに、センサフランジ１０８の座部１０６に設置するためのセンサ１０４の形状を示す。センサフランジ１０８には、回転部材１０２の少なくとも一部を通すための回転部材孔１０９が設けられる。回転部材孔１０９の中心軸線１１０は、図１に示すように、回転部材１０２の回転部材軸線１０３と整列するようになっている。そして、センサフランジ１０８に対応するハウジング１０１の部分の内径（Ｄ２）の中心軸線もまた、図１に示すように、回転部材１０２の回転部材軸線１０３と整列するようになっており、その結果、回転部材孔１０９の中心軸線１１０とも整列するようになっている。センサフランジ１０８を介してセンサ１０４をハウジング１０１に設置することによって、センサフランジ１０８によってセンサ１０４の位置が決定され、回転位置決め装置１００の組立後であっても、センサ１０４の位置を調整することが容易になる。センサフランジ１０８は、ハウジング１０１にセンサフランジ１０８を取り付けるためのセンサフランジ１０８の取付け面から、センサフランジ１０８に設置されたセンサ１０４までの距離（Ａ）を画定し、隙間１０７（Ｐ）を保証する。また、センサフランジ１０８は、回転部材孔１０９の中心軸線１１０からの座部１０６の距離（Ｂ）を画定し、回転部材孔１０９の円周方向の座部１０６の位置（Ｃ）を画定し、センサ１０４が目盛スケール１０５の目盛を読み取るための位置（Ｑ）を保証する。また、センサフランジ１０８には、ケーブル孔１１８が設けられてもよく、ケーブル孔１１８を介してケーブルをセンサ１０４に接続して、センサ１０４によって検出された回転部材１０２の回転による角度変化量に関する信号を受け取れるようにしてもよい。 At least one seat 106 may be provided in the housing 101 via the sensor flange 108 shown in FIGS. 4D and 4E. That is, the sensor 104 is installed in the housing 101 via the seat portion 106 provided on the sensor flange 108. FIG. 4C shows the shape of the sensor 104 for installation on the seat portion 106 of the sensor flange 108. The sensor flange 108 is provided with a rotating member hole 109 for passing at least a part of the rotating member 102. As shown in FIG. 1, the central axis 110 of the rotating member hole 109 is aligned with the rotating member axis 103 of the rotating member 102. Then, as shown in FIG. 1, the central axis of the inner diameter (D2) of the portion of the housing 101 corresponding to the sensor flange 108 is also aligned with the rotating member axis 103 of the rotating member 102, and as a result, It is also aligned with the central axis 110 of the rotating member hole 109. By installing the sensor 104 in the housing 101 via the sensor flange 108, the position of the sensor 104 is determined by the sensor flange 108, and the position of the sensor 104 can be adjusted even after the rotational positioning device 100 is assembled. It will be easier. The sensor flange 108 defines a distance (A) from the mounting surface of the sensor flange 108 for mounting the sensor flange 108 to the housing 101 to the sensor 104 installed on the sensor flange 108, and guarantees a gap 107 (P). .. Further, the sensor flange 108 defines the distance (B) of the seat portion 106 from the central axis 110 of the rotating member hole 109, and defines the position (C) of the seat portion 106 in the circumferential direction of the rotating member hole 109. The sensor 104 guarantees a position (Q) for reading the scale of the scale scale 105. Further, the sensor flange 108 may be provided with a cable hole 118, and a cable is connected to the sensor 104 via the cable hole 118 to signal a signal relating to an angle change amount due to rotation of the rotating member 102 detected by the sensor 104. You may be able to receive it.

　図１、図２に示すように、ハウジング１０１にはシールフランジ１１５が設けられてもよく、センサフランジ１０８とシールフランジ１１５とによって、それらの間にセンサ・ケーブル設置空間１１７が設けられてもよい。回転部材１０２とセンサフランジ１０８との間にシール１１６を設けて、潤滑剤がセンサ・ケーブル設置空間１１７に入り込まないようにしてもよく、また、回転部材１０２とシールフランジ１１５との間にシール１１６を設けて、センサ・ケーブル設置空間１１７を外部空間から隔離してもよい。 As shown in FIGS. 1 and 2, the housing 101 may be provided with a seal flange 115, or the sensor flange 108 and the seal flange 115 may provide a sensor cable installation space 117 between them. .. A seal 116 may be provided between the rotating member 102 and the sensor flange 108 to prevent the lubricant from entering the sensor cable installation space 117, and the seal 116 may be provided between the rotating member 102 and the seal flange 115. May be provided to isolate the sensor cable installation space 117 from the external space.

　図５Ａ～図５Ｅは、図２の実施形態の回転位置決め装置１００に関連し、概ね図４Ａ～図４Ｅに同じであるが、図５Ｂに示すように、複数の略等間隔の目盛を有する目盛スケール１０５が、回転部材１０２の円周方向に沿って、回転部材軸線１０３に対して平行方向に回転部材１０２に一体として形成される点において相違する。また、形成される目盛スケール１０５に従って、図５Ｄ、図５Ｅに示すように、センサフランジ１０８の形状は変更され、図５Ｃに示すように、センサ１０４の形状は変更される。 5A-5E are related to the rotary positioning device 100 of the embodiment of FIG. 2, and are substantially the same as those of FIGS. 4A-4E, but as shown in FIG. 5B, the scales have a plurality of scales at substantially equal intervals. The difference is that the scale 105 is integrally formed with the rotating member 102 in a direction parallel to the rotating member axis 103 along the circumferential direction of the rotating member 102. Further, according to the scale scale 105 formed, the shape of the sensor flange 108 is changed as shown in FIGS. 5D and 5E, and the shape of the sensor 104 is changed as shown in FIG. 5C.

　回転位置決め装置１００においては、工作機械の加工ワーク等を積載するための回転テーブル１１３の回転による角度変化量を検出することができればよいので、図４Ｄ、図５Ｄに示す入力軸としての第２の回転部材１１９に目盛スケール１０５を一体として形成してもよい。この場合には、図６Ａ、図６Ｂに示すように、回転位置決め装置１００は、ハウジング１０１と、第２の回転部材軸線１２０を中心として回転可能な第２の回転部材１１９と、ハウジング１０１に設置されている、角度検出器としての少なくとも１つのセンサ１０４とを備える。複数の目盛を有する目盛スケール１０５が、第２の回転部材１１９の円周方向に沿って第２の回転部材１１９に一体として形成される。目盛スケール１０５の目盛は、第２の回転部材１１９の円周方向に沿って、図６Ａに示すように、第２の回転部材軸線１２０に対して放射方向に第２の回転部材１１９に一体として形成されてもよく、又は図６Ｂに示すように、第２の回転部材軸線１２０に対して平行方向に第２の回転部材１１９に一体として形成されてもよい。回転位置決め装置１００は、回転部材軸線１０３を中心として回転可能な出力軸としての回転部材１０２を更に備え、出力軸としての回転部材１０２には、回転部材１０２の円周方向に沿って伝達機構１１４が設置され、出力軸としての回転部材１０２は、入力軸としての第２の回転部材１１９が伝達機構１１４に接触することによって第２の回転部材１１９の回転に伴って回転することができる。なお、この場合、回転部材１０２に目盛スケール１０５を必ずしも形成する必要はなく、また回転部材１０２と第２の回転部材１１９との両方に目盛スケール１０５を形成してもよい。 In the rotary positioning device 100, it is sufficient if the amount of change in angle due to the rotation of the rotary table 113 for loading the machining work of the machine tool or the like can be detected. Therefore, the second input shaft shown in FIGS. 4D and 5D is used. The scale scale 105 may be integrally formed with the rotating member 119. In this case, as shown in FIGS. 6A and 6B, the rotary positioning device 100 is installed in the housing 101, the second rotary member 119 that can rotate about the second rotary member axis 120, and the housing 101. It comprises at least one sensor 104 as an angle detector. A scale scale 105 having a plurality of scales is integrally formed with the second rotating member 119 along the circumferential direction of the second rotating member 119. The scale of the scale scale 105 is integrated with the second rotating member 119 in the radial direction with respect to the second rotating member axis 120 as shown in FIG. 6A along the circumferential direction of the second rotating member 119. It may be formed, or as shown in FIG. 6B, it may be formed integrally with the second rotating member 119 in a direction parallel to the second rotating member axis 120. The rotary positioning device 100 further includes a rotary member 102 as an output shaft that can rotate around the rotary member axis 103, and the rotary member 102 as an output shaft has a transmission mechanism 114 along the circumferential direction of the rotary member 102. Is installed, and the rotating member 102 as an output shaft can rotate with the rotation of the second rotating member 119 when the second rotating member 119 as an input shaft comes into contact with the transmission mechanism 114. In this case, it is not always necessary to form the scale scale 105 on the rotating member 102, and the scale scale 105 may be formed on both the rotating member 102 and the second rotating member 119.

　このように、入力軸に目盛スケール１０５を一体として形成することによって、回転位置決め装置１００のサイズを小さくすることができる。また、入力軸と出力軸との間の角度伝達精度がよい場合には、出力軸に角度検出器を設置するより低精度にすることができる。例えば、入力軸と出力軸との間の減速比を１６とし、出力軸の目標位置決め精度を２２ｂｉｔ（３６０°／２２２）とした場合には、出力軸に角度検出器を設置する場合には直接２２ｂｉｔの精度が必要となるが、入力軸に角度検出器を設置する場合には４ｂｉｔ分（１６＝２４）低精度、すなわち１８ｂｉｔでも同等の精度を実現することができ、コストを低減することができる。 By integrally forming the scale scale 105 on the input shaft in this way, the size of the rotary positioning device 100 can be reduced. Further, when the angle transmission accuracy between the input shaft and the output shaft is good, the accuracy can be made lower than that of installing an angle detector on the output shaft. For example, when the reduction ratio between the input shaft and the output shaft is 16 and the target positioning accuracy of the output shaft is 22 bits (360 ° / 222), when an angle detector is installed on the output shaft, A direct 22-bit accuracy is required, but when an angle detector is installed on the input shaft, a low accuracy of 4 bits (16 = 24), that is, the same accuracy can be achieved even with 18 bits, reducing costs. be able to.

　図７Ａ、図７Ｂに、図２の実施形態の回転位置決め装置１００の内部の拡大図を示す。用途に応じて、回転位置決め装置１００のサイズは変更されるが、何れのサイズであっても、同様に回転部材１０２に目盛スケール１０５を一体として形成し、回転部材１０２の円周方向に沿ってセンサ１０４を設置するだけであって、サイズに制限されない回転位置決め装置１００を実現することができる。 7A and 7B show an enlarged view of the inside of the rotary positioning device 100 according to the embodiment of FIG. The size of the rotary positioning device 100 is changed according to the application, but regardless of the size, the scale scale 105 is similarly formed integrally with the rotary member 102 along the circumferential direction of the rotary member 102. It is possible to realize the rotary positioning device 100 which is not limited in size only by installing the sensor 104.

　図８Ａに、回転部材１０２と目盛スケール１０５との間に心ズレがない場合の指令位置に対する位置決め精度の例を示し、図８Ｂに、回転部材１０２と目盛スケール１０５との間に心ズレがある場合の指令位置に対する位置決め精度の例を示す。回転部材１０２に目盛スケール１０５を一体として形成することによって、出力軸としての回転部材１０２の目標角度位置である指令位置に対して位置決め精度が、最大約８００ａｒｃｓｅｃから最大約２００ａｒｃｓｅｃに、約６００ａｒｃｓｅｃ改善した具体例である。 FIG. 8A shows an example of positioning accuracy with respect to the command position when there is no center misalignment between the rotating member 102 and the scale scale 105, and FIG. 8B shows a center misalignment between the rotating member 102 and the scale scale 105. An example of positioning accuracy with respect to the command position in the case is shown. By integrally forming the scale scale 105 on the rotating member 102, the positioning accuracy has been improved by about 600 arcsec from a maximum of about 800 arcsec to a maximum of about 200 arcsec with respect to the command position which is the target angle position of the rotating member 102 as an output shaft. This is a specific example.

　図９Ａに、目盛スケール１０５を、ハウジング１０１内に収容されている回転部材１０２の部分に一体として形成し、ハウジング１０１内のセンサ・ケーブル設置空間１１７にセンサ１０４を設置した場合の回転位置決め装置１００の断面図を示す。図９Ｂに、角度検出器が外付けされている場合の回転位置決め装置を示す。図９Ｂの回転位置決め装置においては、角度検出器としての外付けエンコーダ１２２は、取り付けベース１２３を介してハウジングに固定され、エンコーダカラー１２４及び延長フランジ１２５を介して出力軸に嵌め合い軸１２６が接続される。一方、図９Ａの回転位置決め装置１００においては、従来から構成上デッドスペースとなっていた空間に、センサ１０４が設置され、目盛スケール１０５が形成されることから、従来と比較して回転位置決め装置１００をコンパクト化することができ、更には部品点数削減を実現し、コストも低減することができる。 In FIG. 9A, the rotation positioning device 100 when the scale scale 105 is integrally formed with the portion of the rotating member 102 housed in the housing 101 and the sensor 104 is installed in the sensor cable installation space 117 in the housing 101. The cross-sectional view of is shown. FIG. 9B shows a rotary positioning device when an angle detector is externally attached. In the rotary positioning device of FIG. 9B, the external encoder 122 as an angle detector is fixed to the housing via the mounting base 123, and is fitted to the output shaft via the encoder collar 124 and the extension flange 125, and the shaft 126 is connected. Will be done. On the other hand, in the rotary positioning device 100 of FIG. 9A, since the sensor 104 is installed in the space which has been a dead space in the conventional configuration and the scale scale 105 is formed, the rotary positioning device 100 is compared with the conventional one. Can be made compact, the number of parts can be reduced, and the cost can be reduced.

　回転位置決め装置１００は、角度検出器として、特許文献３～５に開示されているような自己校正機能付き角度検出器を採用してもよい。図１０Ａに示すような１つの自己校正機能付き角度検出器によれば、その構成上、複数のセンサ１０４が、回転部材１０２の円周方向に沿って配置され、複数のセンサ１０４の各々が、回転部材１０２の円周方向に沿って回転部材軸線１０３に対して放射方向に回転部材１０２に一体として形成された複数の目盛を有する目盛スケール１０５を読み取ることによって、複数の目盛に基づいて、回転部材１０２の回転による角度変化量が検出される。図１０Ｂに、複数のセンサ１０４の各々によって検出された角度変化量から算出された目盛番号に対する位置決め精度を示す。複数のセンサ１０４の各々によって検出された角度変化量に基づいて、図１０Ｃに示す角度誤差を除去する校正曲線が算出される。そして、代表となる１つのセンサ１０４の角度変化量からこの校正曲線による角度誤差を差し引くことによって、回転テーブル１１３の回転による真の角度変化量を算出することができる。このように、自己校正機能付き角度検出器を採用することによって、回転テーブル１１３の角度変化量を高精度に検出することができ、そして回転テーブル１１３を目標角度位置に高精度に位置決めすることができる。なお、図１０Ａではセンサの数は８つであるが、２つ以上であればよい。 The rotary positioning device 100 may employ an angle detector with a self-calibration function as disclosed in Patent Documents 3 to 5 as the angle detector. According to one angle detector with a self-calibration function as shown in FIG. 10A, a plurality of sensors 104 are arranged along the circumferential direction of the rotating member 102 due to its configuration, and each of the plurality of sensors 104 has a structure. Rotation based on the plurality of scales by reading a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 in the radial direction with respect to the rotating member axis 103 along the circumferential direction of the rotating member 102. The amount of change in angle due to the rotation of the member 102 is detected. FIG. 10B shows the positioning accuracy for the scale number calculated from the amount of angle change detected by each of the plurality of sensors 104. Based on the amount of angle change detected by each of the plurality of sensors 104, a calibration curve for removing the angle error shown in FIG. 10C is calculated. Then, by subtracting the angle error due to this calibration curve from the angle change amount of one representative sensor 104, the true angle change amount due to the rotation of the rotary table 113 can be calculated. In this way, by adopting the angle detector with a self-calibration function, the amount of change in the angle of the rotary table 113 can be detected with high accuracy, and the rotary table 113 can be positioned at the target angle position with high accuracy. it can. In FIG. 10A, the number of sensors is eight, but it may be two or more.

　また、図１０Ｄに示すような別の自己校正機能付き角度検出器によれば、その構成上、複数のセンサ１０４が、回転部材１０２の円周方向に沿って配置され、複数のセンサ１０４の各々が、回転部材１０２の円周方向に沿って回転部材軸線１０３に対して平行方向に回転部材１０２に一体として形成された複数の目盛を有する目盛スケール１０５を読み取ることによって、複数の目盛に基づいて、回転部材１０２の回転による角度変化量が検出される。図１０Ｄに示すような自己校正機能付き角度検出器においても、図１０Ｂ、図１０Ｃと同様の結果を得ることができる。なお、図１０Ｄではセンサの数は５つであるが、２つ以上であればよい。 Further, according to another angle detector with a self-calibration function as shown in FIG. 10D, a plurality of sensors 104 are arranged along the circumferential direction of the rotating member 102 due to its configuration, and each of the plurality of sensors 104 Is based on a plurality of scales by reading a scale scale 105 having a plurality of scales integrally formed on the rotating member 102 in a direction parallel to the rotating member axis 103 along the circumferential direction of the rotating member 102. , The amount of angle change due to the rotation of the rotating member 102 is detected. Even with an angle detector with a self-calibration function as shown in FIG. 10D, the same results as in FIGS. 10B and 10C can be obtained. In FIG. 10D, the number of sensors is 5, but it may be 2 or more.

　図１１Ａに、出力軸としての回転部材１０２に一体として目盛スケール１０５が形成された回転位置決め装置１００による位置決め制御方法の例を示す。図１１Ｂに、入力軸としての第２の回転部材１１９に一体として目盛スケール１０５が形成された回転位置決め装置１００による位置決め制御方法の例を示す。回転位置決め装置１００においては、入力軸が矢印のように回転すると、入力軸の回転角度が伝達されて出力軸が矢印のように回転し、それに伴って回転テーブル１１３も回転する。角度検出器としてのセンサ１０４は、目盛スケール１０５の複数の目盛に基づいて、出力軸又は入力軸の回転による角度変化量を検出し、角度変化量は、モータ１２１を駆動するコントローラ又はドライバ１２７に、回転テーブル１１３の位置決めのための参照角度として通信される。コントローラ又はドライバ１２７は、目標角度位置と参照角度との間の差に応じてモータ１２１を制御し、回転テーブル１１３を目標角度位置に高精度に位置決めする。 FIG. 11A shows an example of a positioning control method by the rotary positioning device 100 in which the scale scale 105 is formed integrally with the rotary member 102 as the output shaft. FIG. 11B shows an example of a positioning control method by the rotary positioning device 100 in which the scale scale 105 is formed integrally with the second rotary member 119 as the input shaft. In the rotary positioning device 100, when the input shaft rotates as shown by an arrow, the rotation angle of the input shaft is transmitted and the output shaft rotates as shown by an arrow, and the rotary table 113 also rotates accordingly. The sensor 104 as an angle detector detects the amount of angle change due to the rotation of the output shaft or the input shaft based on a plurality of scales of the scale scale 105, and the amount of angle change is determined by the controller or driver 127 that drives the motor 121. , It is communicated as a reference angle for positioning the rotary table 113. The controller or driver 127 controls the motor 121 according to the difference between the target angle position and the reference angle, and positions the rotary table 113 at the target angle position with high accuracy.

　上記記載は特定の実施例についてなされたが、本発明はそれに限らず、本発明の原理と添付の特許請求の範囲の範囲内で種々の変更及び修正をすることができることは当業者に明らかである。 Although the above description has been made for a specific embodiment, it is clear to those skilled in the art that the present invention is not limited to this, and various changes and modifications can be made within the scope of the principles of the present invention and the appended claims. is there.

　１００　回転位置決め装置
　１０１　ハウジング
　１０２　回転部材
　１０３　回転部材軸線
　１０４　センサ
　１０５　目盛スケール
　１０６　座部
　１０７　隙間
　１０８　センサフランジ
　１０９　回転部材孔
　１１０　中心軸線
　１１１　軸受
　１１１ａ　ラジアル軸受
　１１１ｂ　第１のスラスト軸受
　１１１ｃ　第２のスラスト軸受
　１１２　軌道面
　１１３　回転テーブル
　１１４　伝達機構
　１１５　シールフランジ
　１１６　シール
　１１７　センサ・ケーブル設置空間
　１１８　ケーブル孔
　１１９　第２の回転部材
　１２０　第２の回転部材軸線
　１２１　モータ
　１２２　外付けエンコーダ
　１２３　取り付けベース
　１２４　エンコーダカラー
　１２５　延長フランジ
　１２６　嵌め合い軸
　１２７　コントローラ又はドライバ
  100 Rotational positioning device 101 Housing 102 Rotating member 103 Rotating member axis 104 Sensor 105 Scale scale 106 Seat 107 Gap 108 Sensor flange 109 Rotating member hole 110 Center axis 111 Bearing 111a Radial bearing 111b First thrust bearing 111c Second thrust bearing 112 Track surface 113 Rotating table 114 Transmission mechanism 115 Seal flange 116 Seal 117 Sensor cable installation space 118 Cable hole 119 Second rotating member 120 Second rotating member Axis 121 Motor 122 External encoder 123 Mounting base 124 Encoder collar 125 Extension Flange 126 Fitting shaft 127 Controller or driver

Claims (10)

　ハウジングと、
　回転部材軸線を中心として回転可能な回転部材であって、前記回転部材の少なくとも一部が前記ハウジング内に収容されている、回転部材と、
　前記ハウジングに設置された少なくとも１つのセンサと
を備える回転位置決め装置であって、
　複数の目盛を有する目盛スケールが、前記回転部材の円周方向に沿って前記回転部材に一体として形成され、前記少なくとも１つのセンサは、前記複数の目盛に基づいて前記回転部材の回転による角度変化量を検出し、前記回転部材は、前記角度変化量に基づいて目標角度位置に位置決めされる、回転位置決め装置。 With the housing
Rotating member A rotating member that is rotatable about an axis and at least a part of the rotating member is housed in the housing.
A rotary positioning device including at least one sensor installed in the housing.
A scale scale having a plurality of scales is formed integrally with the rotating member along the circumferential direction of the rotating member, and the at least one sensor changes an angle due to rotation of the rotating member based on the plurality of scales. A rotary positioning device that detects an amount and positions the rotary member at a target angle position based on the angle change amount. 　前記目盛スケールは、前記回転部材軸線に対して放射方向に又は前記回転部材軸線に対して平行方向に、前記回転部材に一体として形成されている、請求項１に記載の回転位置決め装置。 The rotary positioning device according to claim 1, wherein the scale scale is formed integrally with the rotary member in a radial direction with respect to the rotary member axis or in a direction parallel to the rotary member axis. 　前記ハウジングには、少なくとも１つの座部が設けられ、前記少なくとも１つのセンサの各々は、各センサの位置及び各センサと前記目盛との間の隙間を画定するようにその対応する座部に設置されている、請求項１又は２に記載の回転位置決め装置。 The housing is provided with at least one seat, each of which is installed in the corresponding seat so as to define the position of each sensor and the gap between each sensor and the scale. The rotary positioning device according to claim 1 or 2. 　前記少なくとも１つの座部は、センサフランジを介して前記ハウジングに設けられる、請求項３に記載の回転位置決め装置。 The rotary positioning device according to claim 3, wherein the at least one seat is provided on the housing via a sensor flange. 　前記センサフランジには、前記回転部材の少なくとも一部を通すための回転部材孔が設けられ、前記回転部材孔の中心軸線は前記回転部材軸線と整列している、請求項４に記載の回転位置決め装置。 The rotational positioning according to claim 4, wherein the sensor flange is provided with a rotating member hole for passing at least a part of the rotating member, and the central axis of the rotating member hole is aligned with the rotating member axis. apparatus. 　前記少なくとも１つの座部は、前記回転部材の円周方向に沿って設けられた２つ以上の座部であって、前記２つ以上の座部は、前記回転部材軸線からの距離が等しく、且つ隣接する座部間の距離が等しくなるように設けられ、前記少なくとも１つのセンサは、２つ以上のセンサであって、前記２つ以上のセンサの各々は、前記２つ以上の座部の何れかに設置されている、請求項３～５の何れか一項に記載の回転位置決め装置。 The at least one seat portion is two or more seat portions provided along the circumferential direction of the rotating member, and the two or more seat portions have the same distance from the rotating member axis. The distances between adjacent seats are equal, and the at least one sensor is two or more sensors, and each of the two or more sensors is of the two or more seats. The rotary positioning device according to any one of claims 3 to 5, which is installed in any of the above. 　前記回転位置決め装置は、前記ハウジングに対して前記回転部材の回転を支持するための軸受を更に備え、前記軸受の軌道面が、前記回転部材に一体として形成されている、請求項３～６の何れか一項に記載の回転位置決め装置。 The rotary positioning device further includes a bearing for supporting the rotation of the rotary member with respect to the housing, and the raceway surface of the bearing is integrally formed with the rotary member, claim 3 to 6. The rotary positioning device according to any one item. 　前記目盛スケールは、前記ハウジング内に収容されている前記回転部材の部分に一体として形成されている、請求項３～７の何れか一項に記載の回転位置決め装置。 The rotary positioning device according to any one of claims 3 to 7, wherein the scale scale is integrally formed with a portion of the rotary member housed in the housing. 　前記回転部材は出力軸であって、前記出力軸の端部には回転テーブルが設けられ、前記目盛スケールは、前記回転テーブルに隣接する前記出力軸の部分に一体として形成されている、請求項１～７の何れか一項に記載の回転位置決め装置。 A claim that the rotating member is an output shaft, a rotary table is provided at an end of the output shaft, and the scale scale is integrally formed with a portion of the output shaft adjacent to the rotary table. The rotary positioning device according to any one of 1 to 7. 　前記回転部材は入力軸であって、前記回転位置決め装置は、出力軸線を中心として回転可能な出力軸であって、前記出力軸の円周方向に沿って伝達機構が設置された出力軸を更に備え、前記出力軸は、前記入力軸が前記伝達機構に接触することによって前記入力軸の回転に伴って回転することができる、請求項１～８の何れか一項に記載の回転位置決め装置。
  The rotating member is an input shaft, and the rotary positioning device is an output shaft that can rotate around an output shaft line, and further extends an output shaft in which a transmission mechanism is installed along the circumferential direction of the output shaft. The rotary positioning device according to any one of claims 1 to 8, wherein the output shaft can rotate with the rotation of the input shaft when the input shaft comes into contact with the transmission mechanism.
PCT/JP2020/031647 2019-11-08 2020-08-21 Rotational positioning device Ceased WO2021090551A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP20883796.3A EP4056313B1 (en) 2019-11-08 2020-08-21 Rotational positioning device
US17/773,472 US12304020B2 (en) 2019-11-08 2020-08-21 Rotational positioning device
KR1020227015270A KR102836005B1 (en) 2019-11-08 2020-08-21 Rotary positioning device
CN202080071474.9A CN114555290A (en) 2019-11-08 2020-08-21 Rotary positioning device
JP2021554824A JP7592612B2 (en) 2019-11-08 2020-08-21 Rotational Positioning Device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019203234 2019-11-08
JP2019-203234 2019-11-08

Publications (1)

Publication Number Publication Date
WO2021090551A1 true WO2021090551A1 (en) 2021-05-14

Family

ID=75849831

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/031647 Ceased WO2021090551A1 (en) 2019-11-08 2020-08-21 Rotational positioning device

Country Status (7)

Country Link
US (1) US12304020B2 (en)
EP (1) EP4056313B1 (en)
JP (1) JP7592612B2 (en)
KR (1) KR102836005B1 (en)
CN (1) CN114555290A (en)
TW (1) TWI860404B (en)
WO (1) WO2021090551A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11441664B2 (en) * 2018-01-31 2022-09-13 Sankyo Seisakusho Co. Cam device
WO2022249744A1 (en) * 2021-05-27 2022-12-01 日本トムソン株式会社 Rotary table
TWI910340B (en) 2021-05-27 2026-01-01 日商日本東晟股份有限公司 Rotary table

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115388278B (en) * 2022-08-12 2024-05-14 贵州电网有限责任公司 Rotary limiting mechanism for telescopic rotary support of transformer substation
CN117804519B (en) * 2024-01-03 2024-09-06 重庆日联科技有限公司 X-ray detection equipment repeated positioning precision adjusting equipment and method

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0781747A (en) * 1993-09-17 1995-03-28 Riburetsuto:Kk Intermittently rotating indexing device
JP2000158293A (en) 1998-09-24 2000-06-13 Takahiro Kogyo Kk Roller turret and its manufacture
JP2004160642A (en) * 2002-10-22 2004-06-10 Sankyo Mfg Co Ltd Inclining and rotating table device
JP2005014210A (en) * 1995-02-13 2005-01-20 Agilent Technol Inc Apparatus and method for rotational calibration of machine tool table
JP2006098392A (en) 2004-08-31 2006-04-13 National Institute Of Advanced Industrial & Technology Angle detector with self-calibration function
JP2010099789A (en) 2008-10-24 2010-05-06 Tsudakoma Corp Clamping device in index device for machine tool
JP2011099802A (en) 2009-11-09 2011-05-19 National Institute Of Advanced Industrial Science & Technology Axial runout measuring method and angle detector with self-calibration function having axial runout measuring function
JP2011099804A (en) 2009-11-09 2011-05-19 National Institute Of Advanced Industrial Science & Technology Angle detector with composite self-calibration function
JP2017087416A (en) * 2015-11-04 2017-05-25 ドクトル・ヨハネス・ハイデンハイン・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツングＤｒ． Ｊｏｈａｎｎｅｓ Ｈｅｉｄｅｎｈａｉｎ Ｇｅｓｅｌｌｓｃｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ Machine Tools

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4080849A (en) * 1976-12-13 1978-03-28 Erickson Tool Company Precision heavy duty indexer
JP4320241B2 (en) * 2003-11-07 2009-08-26 津田駒工業株式会社 Index table
JP4590244B2 (en) * 2004-10-15 2010-12-01 株式会社三共製作所 Rotary table device
JPWO2007111261A1 (en) * 2006-03-27 2009-08-13 パイオニア株式会社 Electron beam recording apparatus and beam adjustment method
TW200821083A (en) * 2006-10-26 2008-05-16 Tsudakoma Ind Co Ltd Angle indexing device for machine tool
JP5116135B2 (en) * 2006-11-14 2013-01-09 津田駒工業株式会社 Index table
JP2009148840A (en) * 2007-12-19 2009-07-09 Tsudakoma Corp Rotary indexing table device for machine tools
DE112009000309T5 (en) * 2008-02-07 2011-01-20 Ntn Corp. A wheel bearing device with rotation detector
JP5132398B2 (en) * 2008-04-10 2013-01-30 株式会社リコー Pulse code wheel manufacturing method, pulse code wheel, rotary encoder, rotation control device, belt conveying device, and image forming apparatus
WO2010023896A1 (en) 2008-08-26 2010-03-04 株式会社ニコン Encoder system, signal processing method, and transmission signal generation output device
DE102009001212A1 (en) * 2009-02-27 2010-09-02 Dr. Johannes Heidenhain Gmbh Assembly for an angle measuring device and corresponding angle measuring device
DE102009023079A1 (en) * 2009-05-28 2010-12-02 Weiß GmbH Sondermaschinentechnik Rotary table
JP2012020378A (en) * 2010-07-15 2012-02-02 Tsudakoma Corp Indexing device for machine tools
KR101479888B1 (en) * 2010-11-18 2015-01-06 미쓰비시덴키 가부시키가이샤 Rotation angle detection device
EP2729768B1 (en) * 2011-07-08 2017-05-17 Carl Zeiss Industrielle Messtechnik GmbH Calibration and operation of rotating devices, in particular for rotating sensing heads and/or probes of coordinate measuring devices
CN104053948B (en) * 2012-03-20 2017-03-29 马田专业公司 Moving head fixture with york piece and head position code device
JP6651962B2 (en) * 2016-04-12 2020-02-19 株式会社デンソー Position detection device
DE102017118262A1 (en) * 2017-08-10 2019-02-14 Weiss Gmbh ROUND TABLE WITH POWER-OPTIMIZED DRIVE
WO2019216235A1 (en) * 2018-05-11 2019-11-14 株式会社三共製作所 Angle detector

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0781747A (en) * 1993-09-17 1995-03-28 Riburetsuto:Kk Intermittently rotating indexing device
JP2005014210A (en) * 1995-02-13 2005-01-20 Agilent Technol Inc Apparatus and method for rotational calibration of machine tool table
JP2000158293A (en) 1998-09-24 2000-06-13 Takahiro Kogyo Kk Roller turret and its manufacture
JP2004160642A (en) * 2002-10-22 2004-06-10 Sankyo Mfg Co Ltd Inclining and rotating table device
JP2006098392A (en) 2004-08-31 2006-04-13 National Institute Of Advanced Industrial & Technology Angle detector with self-calibration function
JP2010099789A (en) 2008-10-24 2010-05-06 Tsudakoma Corp Clamping device in index device for machine tool
JP2011099802A (en) 2009-11-09 2011-05-19 National Institute Of Advanced Industrial Science & Technology Axial runout measuring method and angle detector with self-calibration function having axial runout measuring function
JP2011099804A (en) 2009-11-09 2011-05-19 National Institute Of Advanced Industrial Science & Technology Angle detector with composite self-calibration function
JP2017087416A (en) * 2015-11-04 2017-05-25 ドクトル・ヨハネス・ハイデンハイン・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツングＤｒ． Ｊｏｈａｎｎｅｓ Ｈｅｉｄｅｎｈａｉｎ Ｇｅｓｅｌｌｓｃｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ Machine Tools

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4056313A4

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11441664B2 (en) * 2018-01-31 2022-09-13 Sankyo Seisakusho Co. Cam device
WO2022249744A1 (en) * 2021-05-27 2022-12-01 日本トムソン株式会社 Rotary table
JP2022182097A (en) * 2021-05-27 2022-12-08 日本トムソン株式会社 rotary table
JP7322095B2 (en) 2021-05-27 2023-08-07 日本トムソン株式会社 rotary table
US12383996B2 (en) 2021-05-27 2025-08-12 Nippon Thompson Co., Ltd. Rotary table
TWI910340B (en) 2021-05-27 2026-01-01 日商日本東晟股份有限公司 Rotary table

Also Published As

Publication number Publication date
CN114555290A (en) 2022-05-27
TWI860404B (en) 2024-11-01
KR102836005B1 (en) 2025-07-18
JP7592612B2 (en) 2024-12-02
TW202118579A (en) 2021-05-16
KR20220090521A (en) 2022-06-29
EP4056313A1 (en) 2022-09-14
EP4056313B1 (en) 2024-10-16
US20220347807A1 (en) 2022-11-03
EP4056313A4 (en) 2023-10-11
JPWO2021090551A1 (en) 2021-05-14
US12304020B2 (en) 2025-05-20

Similar Documents

Publication Publication Date Title
KR102836005B1 (en) Rotary positioning device
US20110043198A1 (en) Arrangement for detecting a rotation angle
EP2169263B1 (en) Reduction gear device with motors, and industrial machine
JP4875111B2 (en) Detection device for detecting angular position, electric motor, steering column, and reduction gear
JP4912212B2 (en) Steering angle detection device for steering machine
US6248993B1 (en) Steering angle sensor
US9793778B2 (en) Drive apparatus and robot device
US20050257991A1 (en) Electric power steering apparatus
KR101194313B1 (en) Driving modules with hollowness
CN102338165B (en) Reflection type control method for monitoring angular displacement of turnable bearing
US5672135A (en) Controller for planetary differential type reduction gear device
US20210218314A1 (en) Electric motor having a rotor shaft and a first and a second bearing
US20230003593A1 (en) Device for determining the torque and/or rotational angle between a first shaft and a second shaft
US20200055361A1 (en) Gearing arrangement for an actuator device for height adjustment of a vehicle body
JPWO2021090551A5 (en)
CN111482950A (en) Robot
KR101769307B1 (en) Hollow type actuator having high-performance contactless encoder
CN111482952A (en) Robot
JP7517880B2 (en) Angle Measuring Device
JP2005127793A (en) Rotary encoder
JP2003214845A (en) Device for determining steering angle of car steering wheel
KR102145942B1 (en) Steering device including steering angle detecting device
KR200250420Y1 (en) Encoder
KR20030066598A (en) Drive shaft moving device
CN209781816U (en) Governing valve feedback device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20883796

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021554824

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 20227015270

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020883796

Country of ref document: EP

Effective date: 20220608

WWG Wipo information: grant in national office

Ref document number: 17773472

Country of ref document: US